WO2018179577A1 - Engin de chantier - Google Patents

Engin de chantier Download PDF

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Publication number
WO2018179577A1
WO2018179577A1 PCT/JP2017/041728 JP2017041728W WO2018179577A1 WO 2018179577 A1 WO2018179577 A1 WO 2018179577A1 JP 2017041728 W JP2017041728 W JP 2017041728W WO 2018179577 A1 WO2018179577 A1 WO 2018179577A1
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WO
WIPO (PCT)
Prior art keywords
work
control
devices
blade
target
Prior art date
Application number
PCT/JP2017/041728
Other languages
English (en)
Japanese (ja)
Inventor
菊地　淳
誠司 石田
枝村　学
Original Assignee
日立建機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立建機株式会社 filed Critical 日立建機株式会社
Priority to EP17903017.6A priority Critical patent/EP3604694B1/fr
Priority to KR1020197003487A priority patent/KR102137469B1/ko
Priority to CN201780048813.XA priority patent/CN109563698B/zh
Priority to JP2019508549A priority patent/JP6709880B2/ja
Priority to US16/329,236 priority patent/US11053661B2/en
Publication of WO2018179577A1 publication Critical patent/WO2018179577A1/fr

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Classifications

    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E02F3/435—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like
    • E02F3/437—Control of dipper or bucket position; Control of sequence of drive operations for dipper-arms, backhoes or the like providing automatic sequences of movements, e.g. linear excavation, keeping dipper angle constant
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/36—Component parts
    • E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
    • E02F3/43—Control of dipper or bucket position; Control of sequence of drive operations
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/76—Graders, bulldozers, or the like with scraper plates or ploughshare-like elements; Levelling scarifying devices
    • E02F3/80—Component parts
    • E02F3/84—Drives or control devices therefor, e.g. hydraulic drive systems
    • E02F3/844—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically
    • E02F3/845—Drives or control devices therefor, e.g. hydraulic drive systems for positioning the blade, e.g. hydraulically using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/96—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements
    • E02F3/961—Dredgers; Soil-shifting machines mechanically-driven with arrangements for alternate or simultaneous use of different digging elements with several digging elements or tools mounted on one machine
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/22—Hydraulic or pneumatic drives
    • E02F9/2221—Control of flow rate; Load sensing arrangements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • E02F9/264—Sensors and their calibration for indicating the position of the work tool
    • E02F9/265—Sensors and their calibration for indicating the position of the work tool with follow-up actions (e.g. control signals sent to actuate the work tool)
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F3/00—Dredgers; Soil-shifting machines
    • E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
    • E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
    • E02F3/30—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom
    • E02F3/32—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with a dipper-arm pivoted on a cantilever beam, i.e. boom working downwardly and towards the machine, e.g. with backhoes
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/20—Drives; Control devices
    • E02F9/2004—Control mechanisms, e.g. control levers

Definitions

  • the present invention relates to a work machine including a plurality of work devices.
  • the present application includes a plurality of means for solving the above problems.
  • a plurality of work devices an operation device for operating the plurality of work devices, and the plurality of work devices are attached.
  • a position sensor for detecting the position of the machine body
  • a plurality of posture sensors for detecting the postures of the plurality of work devices, and positions of the plurality of work devices based on outputs from the position sensors and the plurality of posture sensors.
  • a working machine comprising a control device having a position calculating device for calculating, a display device for displaying a position of at least one working device among the plurality of working devices and a position of a target work target of the working device;
  • a display selection device for an operator to select a work device to be displayed on the display device from among the work devices, wherein the work device selected by the operator is displayed on the display device.
  • a display selection device that outputs a first input signal to be displayed on a device, and the control device is a work device corresponding to the first input signal input from the display selection device among the plurality of work devices;
  • a display switching unit that selectively displays on the display device a position of a target work target of the work device corresponding to the first input signal input from the display selection device.
  • FIG. 1 is a configuration diagram of a hydraulic excavator according to an embodiment of the present invention.
  • the schematic diagram of the hydraulic shovel of FIG. The figure which shows the control controller of a hydraulic shovel with a hydraulic drive device. Detailed view of a hydraulic unit for front control of a hydraulic excavator. A detailed view of a hydraulic unit for blade control of a hydraulic excavator.
  • the hardware block diagram of the control controller of a hydraulic excavator The figure which shows the coordinate system and target surface in a hydraulic shovel.
  • FIG. 9 is a functional block diagram of the MG / MC control device in FIG. 8. The example of the display screen of the 1st pattern on which a front work apparatus is displayed.
  • the flowchart of MC performed by a front control part.
  • the flowchart of MC performed with a blade control part.
  • a hydraulic excavator including a front working device and a blade working device is illustrated as a working device for changing the target work target from one state to another, and the target work target is formed by excavation and leveling work.
  • the target work target that is the work target of the work device may be common to each work device, or may be set for each work device.
  • the hydraulic excavator provided with the bucket 10 is illustrated as an attachment at the tip of the front working device, the present invention may be applied to a hydraulic excavator provided with an attachment other than the bucket.
  • it can be applied to work machines other than hydraulic excavators.
  • the excavator 1 includes an articulated front working device 1A, a vehicle body 1B, and a blade working device 1C.
  • the vehicle body 1 ⁇ / b> B includes a lower traveling body 11 that travels by the left and right traveling hydraulic motors 3 a and 3 b, and an upper revolving body 12 that is attached on the lower traveling body 11 and that is swung by the swing hydraulic motor 4.
  • the front working device 1A is configured by connecting a plurality of driven members (boom 8, arm 9, and bucket 10) that rotate in the vertical direction.
  • the base end of the boom 8 is rotatably supported at the front portion of the upper swing body 12 via a boom pin.
  • An arm 9 is rotatably connected to the tip of the boom 8 via an arm pin, and a bucket 10 is rotatably connected to the tip of the arm 9 via a bucket pin.
  • the boom 8 is driven by the boom cylinder 5, the arm 9 is driven by the arm cylinder 6, and the bucket 10 is driven by the bucket cylinder 7.
  • a vehicle body tilt angle sensor 33 is mounted on the upper swing body 12 for detecting the tilt angle ⁇ (see FIG. 7) of the upper swing body 12 (vehicle body 1B) with respect to a reference plane (for example, a horizontal plane).
  • the angle sensors 30, 31, and 32 can be replaced with angle sensors 30A, 31A, and 32A (see FIG. 2) with respect to a reference plane (for example, a horizontal plane).
  • the blade working device 1 ⁇ / b> C includes a dozer arm 26 that is attached to the front of the lower traveling body 11 so that a base end thereof is rotatable by an arm support shaft, a blade 16 that is provided at the tip of the dozer arm 26, A dozer arm 26 and a dozer cylinder 14 spanned over the lower traveling body 11 are provided.
  • the cylinder 14 extends, the blade 16 moves downward, and when the cylinder 14 contracts, the blade 16 moves upward.
  • a dozer arm angle sensor 103 that detects the rotation angle of the dozer arm 26 is attached to the arm spindle, and the lower traveling body 11 has a turning angle sensor 104 that detects a relative turning angle of the lower traveling body 11 with respect to the upper revolving body 12. Is attached.
  • the angle sensor 103 can be replaced with an angle sensor 103A (see FIG. 2) with respect to a reference plane (for example, a horizontal plane).
  • the turning angle sensor 104 may be configured so that the relative turning angle of the upper turning body 12 and the lower traveling body 11 can be detected.
  • the turning angle sensor 104 is attached to the upper turning body 12 and
  • the excavator may be configured to detect the relative turning angle of the upper turning body 12.
  • a traveling right lever 23a (FIG. 1) and an operating device 47a (FIG. 3) for operating the traveling right hydraulic motor 3a (lower traveling body 11).
  • An operating device 47b (FIG. 3) for operating the traveling left hydraulic motor 3b (lower traveling body 11) having the left lever 23b (FIG. 1) and the operating right lever 1a (FIG. 1) share the boom cylinder 5 (
  • the operating devices 45a and 46a (FIG. 3) for operating the boom 8) and the bucket cylinder 7 (bucket 10) and the operation left lever 1b (FIG. 1) share the arm cylinder 6 (arm 9) and the swing hydraulic motor 4 Operation devices 45b and 46b (FIG.
  • the traveling right lever 23a, the traveling left lever 23b, the operation right lever 1a, the operation left lever 1b, and the blade operation lever 24 may be collectively referred to as operation levers 1, 23, and 24.
  • the engine 18 that is a prime mover mounted on the upper swing body 12 drives the hydraulic pump 2 and the pilot pump 48.
  • the hydraulic pump 2 is a variable displacement pump whose capacity is controlled by a regulator 2a
  • the pilot pump 48 is a fixed displacement pump.
  • a shuttle block 162 is provided in the middle of pilot lines 143, 144, 145, 146, 147, 148, and 149.
  • the hydraulic signal output from the operating devices 45, 46, 47, 49 is also input to the regulator 2a via the shuttle block 162.
  • a hydraulic signal is input to the regulator 2a via the shuttle block 162, and the discharge flow rate of the hydraulic pump 2 is controlled according to the hydraulic signal.
  • a pump line 148a which is a discharge pipe of the pilot pump 48, passes through the lock valve 39 and then branches into a plurality of branches in the operating devices 45, 46, 47, 49, the front control hydraulic unit 160 and the blade control hydraulic unit 161. Connected to each valve.
  • the lock valve 39 is an electromagnetic switching valve in this example, and its electromagnetic drive unit is electrically connected to a position detector of a gate lock lever (not shown) disposed in the cab (FIG. 1). The position of the gate lock lever is detected by a position detector, and a signal corresponding to the position of the gate lock lever is input to the lock valve 39 from the position detector.
  • the lock valve 39 is closed and the pump line 148a is shut off, and if it is in the unlocked position, the lock valve 39 is opened and the pump line 148a is opened. That is, in the state where the pump line 148a is shut off, the operations by the operating devices 45, 46, 47, and 49 are invalidated, and operations such as turning, excavation, and blade height adjustment are prohibited.
  • the pressure oil discharged from the hydraulic pump 2 is traveled right hydraulic motor 3a, travel left hydraulic motor 3b, swing hydraulic motor via flow control valves 15a, 15b, 15c, 15d, 15e, 15f, 15g (see FIG. 3). 4, supplied to the boom cylinder 5, arm cylinder 6, bucket cylinder 7, and dozer cylinder 14.
  • the boom cylinder 5, the arm cylinder 6, and the bucket cylinder 7 are expanded and contracted by the supplied pressure oil, whereby the boom 8, the arm 9, and the bucket 10 are rotated, and the position and posture of the bucket 10 are changed.
  • the turning hydraulic motor 4 is rotated by the supplied pressure oil, whereby the upper turning body 12 is turned with respect to the lower traveling body 11.
  • the lower traveling body 11 travels as the traveling right hydraulic motor 3a and the traveling left hydraulic motor 3b rotate with the supplied pressure oil.
  • the height of the blade 16 changes as the dozer cylinder 14 expands and contracts by the supplied pressure oil.
  • FIG. 6 is a configuration diagram of a machine guidance (MG) and machine control (MC) system provided in the hydraulic excavator according to the present embodiment.
  • the system shown in FIG. 6 executes processing for displaying the positional relationship between the working devices 1A and 1C and the target surface 60 (see FIG. 7) on the display device 53 as MG.
  • the MC when the operating devices 45, 46, and 49 are operated by an operator, processing for controlling the front working device 1A and the blade working device 1C based on a predetermined condition is executed.
  • the machine control is used when the operating devices 45, 46, 49 are operated, as opposed to “automatic control” in which the operation of the work devices 1A, 1C is controlled by a computer when the operating devices 45, 46, 49 are not operated. Only the operation of the working devices 1A and 1C may be referred to as “semi-automatic control” in which the operation is controlled by a computer.
  • MC control in the present embodiment will be described.
  • MC control of the front work apparatus 1A when an excavation operation (specifically, at least one instruction of arm cloud, bucket cloud, and bucket dump) is input via the operation devices 45b and 46a, the target surface 60 ( Based on the positional relationship between the working device 1A and the tip of the working device 1A (in this embodiment, the tip of the bucket 10), the position of the working device 1A is held on the target surface 60 and in the region above it.
  • the control signals for forcibly operating at least one of the hydraulic actuators 5, 6 and 7 correspond to the flow control valves 15a and 15b. , 15c.
  • MC control of the blade working device 1 ⁇ / b> C when a height adjustment operation of the blade 16 is input via the operation device 49, the position of the lower end of the blade is determined based on the positional relationship between the target surface 60 and the lower end of the blade 16.
  • the MC control related to the front working device 1A and the blade working device 1C may be referred to as “region restriction control”.
  • the control point of the front working device 1A at the time of MC is set at the tip of the bucket 10 of the excavator (the tip of the working device 1A), but the control point is the tip of the working device 1A. If it is a point, it can change besides bucket toe. For example, the bottom surface of the bucket 10 or the outermost part of the bucket link 13 can be selected. Similarly, the control point (blade lower end) of the blade working device 1C can be appropriately changed as long as it is a point on the working device 1C.
  • the system shown in FIG. 6 is installed in the driver's cab, the work device attitude detection device 50, the target surface setting device 51, the operator operation detection device 52a, and can display the positional relationship between the target surface 60 and the work devices 1A and 1C.
  • a display device for example, a liquid crystal display
  • a machine control ON / OFF switch 17 which is provided on the operation lever 1a and selectively switches between valid and invalid machine control
  • a GNSS receiver installed on the upper swing body 12, etc.
  • a controller (control device) 40 is a computer.
  • the working device attitude detection device 50 includes a boom angle sensor 30, an arm angle sensor 31, a bucket angle sensor 32, a vehicle body tilt angle sensor 33, a dozer arm angle sensor 103, and a turning angle sensor 104. These angle sensors 30, 31, 32, 33, 10, and 104 function as posture sensors for the work apparatuses 1A and 1C.
  • the target surface setting device 51 is an interface through which information regarding the target surface 60 (including position information and inclination angle information of each target surface) can be input.
  • the target plane setting device 51 is connected to an external terminal (not shown) that stores the three-dimensional data of the target plane defined on the global coordinate system (absolute coordinate system). The input of the target surface via the target surface setting device 51 may be manually performed by the operator.
  • the operator operation detection device 52a is operated by operating pressure (first operation) generated in the pilot lines 143, 144, 145 and 146 by the operation of the operation levers 1a and 1b (operation devices 45a, 45b and 46a) and the operation lever 24 (operation device 49) by the operator. 1 control signal) to obtain pressure sensors 70a, 70b, 71a, 71b, 72a, 72b, 76a, 76b. That is, an operation on the hydraulic cylinders 5, 6 and 7 related to the work device 1A and an operation on the hydraulic cylinder 14 related to the work device 1C are detected.
  • the machine control ON / OFF switch 17 is provided at the upper end of the front surface of the joystick-shaped operation lever 1a, and is pressed by, for example, the thumb of the operator who holds the operation lever 1a.
  • the machine control ON / OFF switch 17 is a momentary switch, and the machine control is switched between valid and invalid each time it is pressed.
  • the installation location of the switch 17 is not limited to the operation lever 1a (1b), and may be provided in other locations.
  • the display selection switch 96 is a device for the operator to select a work device to be displayed on the display device 53 from among the plurality of work devices 1A and 1C, and a signal for causing the display device 53 to display the work device selected by the operator. (First input signal) is output to the display switching unit 81c.
  • the display selection switch 96 has a first pattern for displaying the front working device 1A, a second pattern for displaying the blade working device 1C, and two working devices 1A as patterns for displaying the working device on the display device 53. , 1C are displayed so that one of the switching positions of the third pattern can be selected, and a different first input signal is output for each switching position.
  • the high pressure side of the shuttle valve 82a (see FIG. 4) that leads to the hydraulic drive unit 150a of the flow control valve 15a is selected.
  • the electromagnetic proportionality which is installed in the pilot line 144b of the operating device 45a for the boom 8 and reduces the pilot pressure (first control signal) in the pilot line 144b based on the control signal from the controller 40 and outputs it.
  • a valve 54b (see FIG. 4), an electromagnetic proportional valve 54c (see FIG. 4) that is connected to the pilot pump 48 on the primary port side and outputs the pilot pressure from the pilot pump 48, and a pilot pressure in the pilot line 144b.
  • a shuttle valve 82b (see FIG. 4) that selects the high pressure side of the control pressure output from the electromagnetic proportional valve 54c and leads to the hydraulic drive unit 150b of the flow control valve 15a is provided.
  • the high pressure side of the control pressure is selected and guided to the hydraulic drive units 152a and 152b of the flow control valve 15c.
  • Shuttle valve 83a, and a 83 b are provided.
  • connection lines between the pressure sensors 70, 71, 72 and the controller 40 are omitted for the sake of space.
  • the blade control hydraulic unit 161 detects the pilot pressure (first control signal) as the operation amount of the operation lever 24 in the pilot lines 143a and 143b for the blade 16 (dozer cylinder 14).
  • Pressure sensors 76a and 76b output to the controller 40, electromagnetic proportional valves 57a and 57b that reduce and output the pilot pressure (first control signal) based on the control signal from the controller 40, and the primary port side is the pilot.
  • An electromagnetic proportional valve 57c, 57d connected to the pump 48 and reducing the pilot pressure from the pilot pump 48 and outputting the pilot pressure, and a pilot pressure in the pilot lines 143a, 143b and a high control pressure output from the electromagnetic proportional valves 57c, 57d.
  • Side of the flow control valve 15g to the hydraulic drive unit 156a, 156b Torr valve 85a, and the 85b are provided respectively.
  • the connection line between the pressure sensor 76 and the controller 40 is omitted for the sake of space.
  • the electromagnetic proportional valves 54 b, 55 a, 55 b, 56 a, 56 b, 57 a, 57 b have the maximum opening when not energized, and the opening decreases as the current that is a control signal from the controller 40 is increased.
  • the electromagnetic proportional valves 54a, 54c, 55c, 56c, 56d, 57c, and 57d have an opening degree when not energized and an opening degree when energized, and increase the current (control signal) from the controller 40. Opening is increased.
  • the opening 54, 55, 56, 57 of each electromagnetic proportional valve corresponds to the control signal from the controller 40.
  • pilot pressure second control signal
  • the blade lowering operation can be forcibly generated.
  • the electromagnetic proportional valves 54b, 55a, 55b, 56a, 56b, 57a, and 57b are driven by the controller 40, the pilot pressure generated by the operator operation of the operating devices 45a, 45b, 46a, and 49 (first The pilot pressure (second control signal) can be generated by reducing the control signal), and the speed of the boom lowering operation, arm cloud / dump operation, bucket cloud / dump operation, blade raising / lowering operation can be determined from the operator operation values. It can be forcibly reduced.
  • the pilot pressure generated by the operation of the operating devices 45a, 45b, 46a, 49 is referred to as a “first control signal”.
  • the controller 40 drives the electromagnetic proportional valves 54b, 55a, 55b, 56a, 56b, 57a, 57b to correct (reduce) the first control signal.
  • the pilot pressure generated by the control controller 40 and the pilot pressure newly generated separately from the first control signal by driving the electromagnetic proportional valves 54a, 54c, 55c, 56c, 56d, 57c, 57d by the controller 40 are referred to as “second control signal”.
  • the control signal calculated for the second control signal is controlled based on the second control signal, and the control signal for the control valve not calculated for the second control signal is set to the first control signal.
  • the MC can be said to control the flow control valves 15a to 15c and 15g based on the second control signal.
  • the controller 40 includes an input unit 91, a central processing unit (CPU) 92 that is a processor, a read only memory (ROM) 93 and a random access memory (RAM) 94 that are storage devices, and an output unit 95.
  • the input unit 91 receives signals from the angle sensors 30 to 32, 103, 104 and the tilt angle sensor 33 which are the work device posture detection device 50, and a target surface setting device 51 which is a device for setting the target surface 60.
  • From an operator operation detection device 52a which is a pressure sensor (including pressure sensors 70, 71, 72) for detecting a signal, a signal from the machine control ON / OFF switch 17, and an operation amount from the operation devices 45a, 45b, 46a.
  • FIG. 9 is a functional block diagram of the MG / MC control unit 43 in FIG.
  • the MG / MC control unit 43 includes an operation amount calculation unit 43a, a posture calculation unit 43b, a target surface calculation unit 43c, a turning body position calculation unit 43z, a front position calculation unit 81a, a blade position calculation unit 81b, A display switching unit 81c, a front control unit 81d, a blade control unit 81e, and a control switching unit 81f are provided.
  • the revolving unit position calculation unit 43z acquires the position information of the upper revolving unit 12 in the global coordinate system from the outputs of the satellite communication antennas 25a and 25b by RTK-GPS (Real Time Kinematic Global Positioning System) measurement. At this time, the satellite communication antennas 25 a and 25 b function as position sensors for the upper swing body 12.
  • RTK-GPS Real Time Kinematic Global Positioning System
  • the posture calculation unit 43b calculates the posture of the front work device 1A, the position of the tip of the bucket 10, the posture of the blade work device 1C, and the position of the lower end of the blade 16 in the local coordinate system. .
  • the posture of the front working device 1A can be defined on the shovel coordinate system (local coordinate system) in FIG.
  • the shovel coordinate system (XZ coordinate system) in FIG. 7 is a coordinate system set for the upper swing body 12, and the upper portion of the boom 8 supported by the upper swing body 12 so as to be pivotable is the origin.
  • the Z axis is set in the vertical direction and the X axis is set in the horizontal direction.
  • the inclination angle of the boom 8 with respect to the X-axis is the boom angle ⁇
  • the inclination angle of the arm 9 with respect to the boom 8 is the arm angle ⁇
  • the inclination angle of the bucket toe relative to the arm is the bucket angle ⁇ .
  • the inclination angle of the vehicle body 1B (upper turning body 12) with respect to the horizontal plane (reference plane) is defined as an inclination angle ⁇ .
  • the boom angle ⁇ is detected by the boom angle sensor 30, the arm angle ⁇ is detected by the arm angle sensor 31, the bucket angle ⁇ is detected by the bucket angle sensor 32, and the tilt angle ⁇ is detected by the vehicle body tilt angle sensor 33.
  • the coordinates of the bucket toe position in the shovel coordinate system and the posture of the working device 1A are L1, L2, and L3. , ⁇ , ⁇ , ⁇ .
  • the posture of the blade working device 1C can be defined similarly.
  • the base of the dozer arm 26 (the portion denoted by reference numeral 103 in FIG. 2) is the origin
  • the W axis is set in the vertical direction in the lower traveling body 11
  • the U axis is set in the horizontal direction
  • the dozer arm 26 is inclined with respect to the U axis.
  • the angle be the dozer angle ⁇ (see FIG. 2). Since the distance from the base of the dozer arm 26 to the lower end of the blade 16 is constant, the coordinates of the lower end of the blade in UW coordinates can be expressed by ⁇ .
  • the coordinate of the lower end of the blade in the UW coordinate system is set to a value in the global coordinate system based on the coordinates of the upper swing body 3 in the global coordinate system acquired by the swing body position calculation unit 43z and the swing angle detected by the swing angle sensor 104. Can be converted.
  • the front position calculation unit 81a includes the position of the front working device 1A and the position of the toe of the bucket 10 in the local coordinate system from the posture calculation unit 43b, and the position of the upper swing body 12 in the global coordinate system from the swing body position calculation unit 43z. Based on the above, the attitude of the front working device 1A and the position of the toe of the bucket 10 in the global coordinate system are calculated.
  • the blade position calculation unit 81b determines the attitude of the blade working device 1C in the local coordinate system from the attitude calculation unit 43b and the position of the lower end of the blade 16, and the position of the upper swing body 12 in the global coordinate system from the swing body position calculation unit 43z. Based on this, the attitude of the blade working device 1C in the global coordinate system and the position of the lower end of the blade 16 are calculated.
  • the target plane calculation unit 43c includes three-dimensional data of the target plane in the global coordinate system from the target plane setting device 51, the position of the tip of the bucket 10 in the global coordinate system from the front position calculation unit 81a, and the blade position calculation unit. Based on the position of the lower end of the blade 16 in the global coordinate system from 81b, the position information of the target surface 60 closest to the bucket tip or the blade lower end is calculated and stored in the ROM 93.
  • a cross-sectional shape obtained by cutting a three-dimensional target surface along a plane on which the working device 1A or the working device 1C moves is a target surface 60 (2 It is used as a dimension target surface).
  • the target surface 60 there is one target surface 60, but there may be a plurality of target surfaces.
  • the target surface since the target surface is set closest to each of the work devices 1A and 1C, the target surface 60 may differ between the front work device 1A and the blade work device 1C when there are a plurality of target surfaces.
  • the selection of the target surface of each working device 1A, 1C is, for example, a method of using a target surface that is located below the bucket toe or the lower end of the blade, or a method of selecting an arbitrarily selected target surface. Etc.
  • the posture calculation unit 43b if the position information of the target plane 60 is converted into a value in the local coordinate system (XZ coordinate system, UW coordinate system) used by the posture calculation unit 43b, the calculation result of the posture calculation unit 43b is converted into global coordinates. It can be used for front position calculation, blade position calculation, front control and blade control.
  • the display switching unit 81c is a device that switches a work device to be displayed on the display device 53 among the plurality of work devices 1A and 1C according to a first input signal input from the display selection switch 96, and includes a plurality of work devices 1A and 1C. Among them, the work device designated by the first input signal and the position of the target work object are selectively displayed on the display device 53.
  • the display switching unit 81c is input with the posture of the front working device 1A and the position of the toe of the bucket 10 from the front position calculating unit 81a, the posture of the blade working device 1C and the position of the lower end of the blade 16 from the blade position calculating unit 81b. Has been.
  • the display switching unit 81c is a pattern (switching position of the switch 96) selected by the first input signal from the display selection switch 96 among the posture / position information input from the front position calculating unit 81a and the blade position calculating unit 81b.
  • the attitude / position information corresponding to the information is output to the display control unit 374. Specifically, there are a first pattern in which the front work device 1A is displayed, a second pattern in which the blade work device 1C is displayed, and a third pattern in which the two work devices 1A and 1C are displayed together.
  • the shape of the line 401 of the target surface around the blade 16 is confirmed by appropriately moving the display range of the screen 400 from FIG. 11 so that the blade position is approximately at the horizontal center of the screen 400. It is easy to do. By checking the screen 400, the operator can grasp where the excavator body and the blade working device 1C are located with respect to the line 401 of the target surface.
  • the front control unit 81d uses the operation speed of the hydraulic cylinders 5, 6, and 7 calculated in S410 and the attitude of the working device 1A calculated by the attitude calculation unit 43b to operate the bucket tip by the operator operation.
  • the velocity vector B of (toe) is calculated.
  • the front control unit 81d determines the target surface to be controlled from the bucket tip based on the distance between the toe position (coordinates) of the bucket 10 calculated by the posture calculation unit 43b and the straight line including the target surface 60 stored in the ROM 93.
  • a distance Db up to 60 is calculated.
  • the limit value ay of the component perpendicular to the target plane 60 of the velocity vector at the bucket tip is calculated.
  • the front control unit 81d acquires a component by perpendicular to the target surface 60 in the speed vector B at the bucket tip by the operator operation calculated in S420.
  • the front control unit 81d determines whether or not the vertical component by of the toe velocity vector B by the operator operation is 0 or more. When it is determined in S480 that the vertical component by is 0 or more (that is, when the vertical component by is upward), the process proceeds to S530, and when the vertical component by is less than 0, the process proceeds to S490.
  • the front controller 81d compares the limit value ay with the absolute value of the vertical component by, and proceeds to S530 if the absolute value of the limit value ay is greater than or equal to the absolute value of the vertical component by. On the other hand, if the absolute value of the limit value ay is less than the absolute value of the vertical component by, the process proceeds to S500.
  • the front controller 81d sets the speed vector C to zero.
  • the front controller 81d calculates the target speeds of the hydraulic cylinders 5, 6, and 7 based on the target speed vector T (ty, tx) determined in S520 or S540.
  • the target speed vector T does not match the speed vector B in the case of FIG. 12
  • the speed vector C generated by the operation of the boom 8 by machine control is added to the speed vector B to A velocity vector T is realized.
  • the front controller 81d sets the target pilot pressure to the flow control valves 15a, 15b, 15c of the hydraulic cylinders 5, 6, 7 based on the target speeds of the cylinders 5, 6, 7 calculated in S550. Calculate.
  • the electromagnetic proportional valve control unit 44 Controls the electromagnetic proportional valves 54, 55, and 56 so that the target pilot pressure acts on the flow control valves 15a, 15b, and 15c of the hydraulic cylinders 5, 6, and 7, and excavation is performed by the work device 1A.
  • the electromagnetic proportional valve 55c is controlled so that the tip of the bucket 10 does not enter the target surface 60, and the boom 8 is raised. Is done automatically.
  • control is performed so that the angle of the bucket 10 is maintained at a desired angle by controlling the electromagnetic proportional valves 56c and 56d so that the angle B with respect to the target surface 60 of the bucket 10 becomes a constant value and the leveling operation becomes easy. May be added.
  • FIG. 14 is an MC flowchart executed by the blade controller 81e.
  • the blade controller 81e calculates the operating speed (cylinder speed) of the hydraulic cylinder 14 based on the operation amount calculated by the operation amount calculator 43a.
  • the blade control unit 81e calculates the velocity vector E of the blade lower end by the operator operation based on the operation speed of the hydraulic cylinder 14 calculated in S610 and the attitude of the working device 1C calculated by the attitude calculation unit 43b. Calculate.
  • the blade control unit 81e determines the position (coordinates) of the lower end of the blade calculated by the posture calculation unit 43b and the distance of the straight line including the target surface 60 stored in the ROM 93 from the lower end of the blade to the target surface 60 to be controlled.
  • Distance Dd (see FIG. 7). Based on the distance Dd and the graph of FIG. 15, the limit value fy of the component perpendicular to the target plane 60 of the velocity vector at the bucket tip is calculated.
  • the blade controller 81e determines whether or not the limit value fy calculated in S630 is 0 or more.
  • xy coordinates are set as shown in the upper right of FIG. In the xy coordinates, the x axis is parallel to the target surface 60 and the left direction in the drawing is positive, and the y axis is perpendicular to the target surface 60 and the upper direction in the drawing is positive.
  • the vertical component ey and the limit value fy are negative, and the horizontal component ex and the horizontal component fx are positive. As is apparent from FIG.
  • the blade controller 81e determines whether or not the vertical component ey of the toe velocity vector E by the operator operation is 0 or more. When ey is positive, it indicates that the vertical component ey of the velocity vector E is upward, and when ey is negative, it indicates that the vertical component ey of the velocity vector E is downward. When it is determined in S660 that the vertical component ey is 0 or more (that is, when the vertical component ey is upward), the process proceeds to S670, and when the vertical component ey is less than 0, the process proceeds to S720.
  • the blade controller 81e compares the limit value fy with the absolute value of the vertical component ey. If the absolute value of the limit value fy is equal to or greater than the absolute value of the vertical component ey, the process proceeds to S720. On the other hand, if the absolute value of the limit value fy is less than the absolute value of the vertical component ey, the process proceeds to S740.
  • the electromagnetic proportional valve control unit 44 Controls the electromagnetic proportional valve 57 so that the target pilot pressure acts on the flow rate control valve 15g of the hydraulic cylinder 14, whereby the vertical movement of the work device 1C is performed.
  • the electromagnetic proportional valve 57 is controlled so that the lower end of the blade 16 does not enter the target surface 60, and the operation of the blade 16 is automatically performed. Done.
  • the switching determination unit 81i determines that the MC of the front work device 1A is valid
  • the second input signal of the first pattern that enables the MC of the front work device 1A is output to the control switching unit 81f.
  • the MC of the front working device 1A is activated by the electromagnetic proportional valve control unit 44.
  • the switching determination unit 81i determines that the MC of the blade working device 1C is valid
  • the second input signal of the second pattern that validates the MC of the blade working device 1C is output to the control switching unit 81f.
  • MC of the blade working device 1C is activated by the electromagnetic proportional valve control unit 44.
  • FIG. 20 is a functional block diagram of the MG / MC control unit 43 according to the third embodiment of the present invention.
  • the control device 43 of the present embodiment excludes the front distance calculation unit 81g and the blade distance calculation unit 81h from the configuration of the control device 43 of the second embodiment, and turns upward from the posture calculation unit 43b to the switching determination unit 81i.
  • the relative turning angle between the body 12 and the lower traveling body 11 is input.
  • the forward direction of the upper swing body 12 and the forward direction of the lower traveling body 11 are regarded as being aligned, while when the turning angle is outside the predetermined range, the forward direction of the upper swing body 12 is defined.
  • the forward direction of the lower traveling body 11 is not aligned, for example, when the turning angle is outside a predetermined range, the forward direction of the upper traveling body 12 and the forward direction of the lower traveling body 11 are not aligned.
  • the front work apparatus 1A is regarded as being operated by the front work apparatus 1A, and the front work apparatus 1A becomes an MG target.
  • the switching work determination unit 81i determines that the front work device 1A is an MG target
  • the first input signal of the first pattern for displaying the front work device 1A is output to the display switching unit 81c. Accordingly, the display control unit 374 displays the work apparatus 1A and the target surface 60 on the display device 53 as shown in FIG.
  • the switching work determination unit 81i determines that the blade working device 1C is an MG target
  • the first input signal of the second pattern for displaying the blade working device 1C is output to the display switching unit 81c. Accordingly, the display control unit 374 displays the work device 1C and the target surface 60 on the display device 53 as shown in FIG.
  • the blade position information is calculated for the MG. Since it is good, the calculation load of the control apparatus 43 can be reduced.
  • the switching determination unit 81i acquires the relative turning angle of the upper turning body 12 and the lower traveling body 11 calculated by the posture calculating unit 43b, and based on the relative turning angle, selects the MC of the two work devices 1A and 1C. This is a device that determines a work device to be validated and outputs a second input signal based on the determination to the display switching unit 81f.
  • the switching determination unit 81i switches the working device that activates the MC among the two working devices 1A and 1C based on the turning angle of the lower traveling body 11 with respect to the upper turning body 12 as described above. Do the same.
  • the forward direction of the upper swing body 12 and the forward direction of the lower traveling body 11 are aligned, For example, when the forward direction of the upper swing body 12 and the forward direction of the lower travel body 11 are not aligned, for example, when the swing angle is outside a predetermined range, the forward direction of the upper swing body 12 and the lower travel body Since the advancing direction of the body 11 is not uniform, the front work apparatus 1A is regarded as being in operation by the front work apparatus 1A (MC becomes effective).
  • the blade working device 1C is an MC target.
  • the switching determination unit 81i determines that the MC of the front work device 1A is valid
  • the second input signal of the first pattern that enables the MC of the front work device 1A is output to the control switching unit 81f.
  • the MC of the front working device 1A is activated by the electromagnetic proportional valve control unit 44.
  • the switching determination unit 81i determines that the MC of the blade working device 1C is valid
  • the second input signal of the second pattern that validates the MC of the blade working device 1C is output to the control switching unit 81f.
  • MC of the blade working device 1C is activated by the electromagnetic proportional valve control unit 44.
  • the switching determination unit 81i automatically outputs the second input signal based on the turning angle of the lower traveling body 11 with respect to the upper turning body 12, for example, to perform a blade operation.
  • the blade 16 becomes the MC target without any particular operation by the operator, and thereby the MC of the blade working device 1C is activated. Become. Therefore, it is possible to realize a working machine capable of performing MC for the blade working device 1C in addition to the front working device 1A.
  • a first signal generating device (display selection switch 96 or switching determination unit 81i) for generating a first input signal for determining a working device to be displayed on the display device 53 among the two working devices 1A and 1C, and two The working device specified by the first input signal input from the first signal generating device among the working devices 1A and 1C and the position of the target work target (that is, from the first signal generating device of the two working devices 1A and 1C).
  • a display switching unit 81c for displaying on the display device 53 the target work target position of the work device specified by the first input signal to be input.
  • the work device to be displayed on the display device 53 can be selected according to the content of the first input signal generated by the display selection switch 96 or the switching determination unit 81i.
  • the devices 1A and 1C a device suitable for the work content at that time can be selected and the MG can be executed to improve work efficiency.
  • the two work devices 1A and 1C for changing the respective target work objects to other states and the two work devices 1A and 1C are operated.
  • each target work is determined based on the position of the target work target (target surface 60) and the positions of the two work devices 1A, 1C.
  • Control for executing machine control control for controlling the operation of the two working devices 1A and 1C so that the bucket toe and the lower end of the blade, which are control points of the two working devices 1A and 1C, are positioned above the target (target surface 60).
  • a second signal generator (control selection switch 97 or switching determination unit 81i) that generates a second input signal that determines a work device that activates machine control control among the devices 81d and 81e and the two work devices 1A and 1C.
  • a control switching unit 81f that enables machine control control of the work device specified by the second input signal input from the second signal generator of the two work devices 1A and 1C.
  • a work device that enables MC control can be selected according to the content of the second input signal generated by the control selection switch 97 or the switching determination unit 81i.
  • a device suitable for the work content at that time can be selected and the MC can be executed to improve work efficiency.
  • the first signal generation device of (1) is a display selection switch 96 for the operator to select work devices 1A and 1C to be displayed on the display device 53 from the two work devices 1A and 1C.
  • the display selection switch 96 (display selection device) outputs a first input signal for displaying the work device selected by the operator on the display device 53 to the display switching unit 81c.
  • the work device desired by the operator can be displayed on the display device 53 by selecting with the switch 96, so that work efficiency can be improved.
  • the second signal generator of (2) is a control selection switch 97 for the operator to select work devices 1A and 1C for enabling machine control control from the two work devices 1A and 1C.
  • a control selection switch 97 (control selection device) that outputs a second input signal that enables machine control of the work device selected by the operator to the control switching unit 81f is used.
  • the two working devices 1A and 1C forming the respective target work objects, and the operating devices 45 and 46 for operating the two working devices 1A and 1C, 49, a satellite communication antenna 25 which is a position sensor for detecting the position of the upper swing body 12, and angle sensors 30, 31, 32, which are a plurality of attitude sensors for detecting the attitudes of the two working devices 1A and 1C.
  • a switching determination unit 81i that determines a device
  • a work device suitable for work is automatically selected and displayed on the display device 53 in accordance with the first distance Db and the second distance Dd. Can also improve work efficiency.
  • the two working devices 1A and 1C that form the respective target surfaces and the operating devices 45 and 46 for operating the two working devices 1A and 1C.
  • a satellite communication antenna 25 that is a position sensor for detecting the position of the upper swing body 12, and angle sensors 30, 31, and 32 that are a plurality of attitude sensors for detecting the attitudes of the two working devices 1A and 1C.
  • the control devices 81g and 81h for executing machine control control for controlling the operations of the two working devices 1A and 1C so that the bucket toe and the lower end of the blade, which are the control points of C, are positioned.
  • a control switching unit 81f that switches a working device that makes machine control control effective according to a second input signal, a first distance Db that is a distance between the front working device 1A and its target surface 60, a blade working device 1C, and its target surface.
  • Distance calculation units 81g and 81h that calculate a second distance Dd that is a distance of 60, and a work device that enables machine control control out of the two work devices 1A and 1C based on the first distance Db and the second distance Dd
  • a switching determination unit 81i that outputs a second input signal based on the determination to the control switching unit 81f.
  • the two working devices 1A and 1C forming the respective target work objects, and the operating devices 45 and 46 for operating the two working devices 1A and 1C, 49, a satellite communication antenna 25 which is a position sensor for detecting the position of the upper swing body 12, and angle sensors 30, 31, 32, which are a plurality of attitude sensors for detecting the attitudes of the two working devices 1A and 1C.
  • a switching determination unit 81i that determines a working device to be displayed on the display device 53 out of the two working devices 1A and 1C and outputs a first input signal based on the determination to the display switching unit 81c.
  • the blade working device 1C is automatically selected and the display device 53 when the forward direction of the upper swing body and the traveling direction of the lower traveling body are aligned in order to perform the blade work. Therefore, the working efficiency can be improved as compared with the above (1).
  • a control switching unit 81f that switches a working device that makes machine control control effective according to the second input signal, and a relative turning angle between the upper swing body and the lower traveling body are acquired via the angle sensor 104, and based on the relative swing angle. Then, a switching determination unit 81i that determines a working device that makes machine control control effective among the two working devices 1A and 1C and outputs a second input signal based on the determination to the control switching unit 81f is provided.
  • the hydraulic excavator When the hydraulic excavator is configured in this way, it is possible to control which work device is used to activate MC based on the value of the relative turning angle between the upper swing body 12 and the lower traveling body 11. For example, only when the relative turning angle is within a predetermined range (for example, only when the forward direction of the upper turning body 12 and the traveling direction of the lower traveling body 11 are aligned), the MC of the blade working device 1C is made effective. With this configuration, the blade position information for the MC and the target pilot pressure of the dozer cylinder 14 need only be calculated only when the relative turning angle is within a predetermined range. Can be reduced.
  • the hydraulic excavator capable of executing MG and MC is exemplified, but the hydraulic excavator may be configured to execute only one of MG and MC. More specifically, if it is a hydraulic excavator that can execute only MG, the operator operation detection device 52a, the operation amount calculation unit 43a, the front control unit 81d, the blade control unit 81e, the control switching unit 81f, from the configuration of FIG. The control selection switch 97 and the electromagnetic proportional valve control unit 44 may be omitted. Further, in the case of a hydraulic excavator that can execute only MC, the display selection switch 96 and the display switching unit 81c may be omitted from FIG.
  • the configuration related to the control controller 40 may be a program (software) that realizes each function related to the configuration of the control controller 40 by being read and executed by an arithmetic processing device (for example, a CPU).
  • Information related to the program can be stored in, for example, a semiconductor memory (flash memory, SSD, etc.), a magnetic storage device (hard disk drive, etc.), a recording medium (magnetic disk, optical disc, etc.), and the like.

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Abstract

La présente invention comprend : une antenne de communication par satellite (25) permettant de détecter la position d'un corps rotatif supérieur (12) ; des capteurs d'angle (30 à 33, 103, 104) qui détectent les attitudes de deux appareils de chantier (1A, 1C) ; des dispositifs de calcul de position (81a, 81b) qui calculent les attitudes et les positions des deux appareils de chantier (1A, 1C) sur la base de sorties provenant de l'antenne de communication par satellite et des capteurs d'angle ; un dispositif d'affichage (53) qui affiche la position d'un ou des deux appareils de chantier (1A, 1C) et la position d'une surface cible (60) ; un commutateur de sélection d'affichage (96) qui délivre un premier signal d'entrée qui amène l'appareil de chantier sélectionné parmi les deux appareils de chantier (1A, 1C) par un opérateur à être affiché par le dispositif d'affichage (53) ; et une unité de commutation d'affichage (81c) qui affiche l'appareil de chantier correspondant au premier signal d'entrée entré à partir du commutateur de sélection d'affichage (96) parmi les deux appareils de chantier (1A, 1C) et la position d'un sujet de chantier cible associé sur le dispositif d'affichage.
PCT/JP2017/041728 2017-03-29 2017-11-20 Engin de chantier WO2018179577A1 (fr)

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EP17903017.6A EP3604694B1 (fr) 2017-03-29 2017-11-20 Engin de chantier
KR1020197003487A KR102137469B1 (ko) 2017-03-29 2017-11-20 작업 기계
CN201780048813.XA CN109563698B (zh) 2017-03-29 2017-11-20 作业机械
JP2019508549A JP6709880B2 (ja) 2017-03-29 2017-11-20 作業機械
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US20190249391A1 (en) 2019-08-15
US11053661B2 (en) 2021-07-06
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KR20190025992A (ko) 2019-03-12
EP3604694A4 (fr) 2020-12-30
JPWO2018179577A1 (ja) 2019-06-27
JP6709880B2 (ja) 2020-06-17
EP3604694B1 (fr) 2023-01-11
KR102137469B1 (ko) 2020-07-24
CN109563698A (zh) 2019-04-02

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